System And Method For Recovering A Submarine Vehicle

ABSTRACT

The invention relates to a system and a method for recovering a submarine vehicle. The submarine vehicle is pulled by a rope and hauled by means of the rope and a recovery ramp from the body of water on board a ship or onto land. The system comprises the recovery ramp and a wave equalization ramp. The wave compensation ramp can be rotated relative to the recovery ramp about a swivel axis S and is supported by a floating body. The watercraft is picked up by means of the recovery ramp. The wave compensation ramp is hauled together with the picked-up submarine vehicle by means of the recovery ramp. The invention permits the recovery of a submarine vehicle, even in moderate or heavy seas, with less risk of damage to the submarine vehicle.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present invention is the US national stage under 35 U.S.C. §371 ofInternational Application No. PCT/EP2012/064152, which was filed on Jul.19, 2012 and which claims the priority of application DE 10 2011 109092.8 filed on Aug. 1, 2011 the content of which (text, drawings andclaims) are incorporated here by reference in its entirety.

FIELD

The invention relates to a system and a method for recovering asubmarine vehicle, in particular an unmanned submarine vehicle. Thesubmarine vehicle can be an autonomous submarine vehicle (AUV=AutonomousUnderwater Vehicle), but alternatively can also be a submarine vehicleoperated by cable (ROV=Remotely Operating Vehicle).

BACKGROUND

Such a submarine vehicle is generally transported by means of a marinevessel to a place of use and at that point let into the water from onboard the marine vessel or from the land, for example from a jetty.After carrying out its mission, the submarine vehicle has to berecovered again. To this end, it is known to reel in the free end of arope fastened to the submarine vehicle and to pull in and retrieve thesubmarine vehicle onto the marine vessel by means of the rope. A knownsystem for recovering a submarine vehicle comprises a recovery ramp, bymeans of which the submarine vehicle is retrieved on board the marinevessel from the body of water. The recovery ramp is fixed relative tothe marine vessel for recovering the submarine vehicle, such that therecovery ramp protrudes obliquely into the water from the deck of themarine vessel so that the submarine vehicle is able to be pulled ontothe recovery ramp by means of the rope in the region of the waterlineand/or water surface of the body of water.

The marine vessel comprising the recovery ramp has a considerablygreater volume and a considerably greater mass relative to the submarinevehicle. The position of the marine vessel in the water, therefore, issubstantially influenced by heavy seas and/or waves of relatively longwavelength. However, the submarine vehicle follows comparatively smallwaves which leave the marine vessel substantially unaffected. As aresult, in moderate and/or heavy seas this leads to a vertical relativemovement of the submarine vehicle relative to the recovery ramp. Therecovery ramp crashes up and down, in particular relative to thesubmarine vehicle, and thus can hit the submarine vehicle hard anddamage said submarine vehicle during the recovery procedure, inparticular in the front part of the submarine vehicle. In addition, therecovery ramp itself can be damaged thereby. Even if the recovery rampis arranged in a fixed manner, for example on the jetty, the submarinevehicle can hit the recovery ramp hard due to the waves.

Devices for picking up watercraft and/or boats are disclosed in DE 19500 182 C2, U.S. Pat. No. 2,371,461 A, WO 2008/025345 A1 and U.S. Pat.No. 4,242,768 A, in each case the devices not being pulled by means of arope. DE 38 34 174 C2 and EP 1 216 918 A8 also propose such devices forpicking up submerged objects. DE 41 40 201 C2 discloses a device forretrieving a trailing body pulled underwater on a trailing cable via acarriage, which is displaceable on vertically arranged guide rails, witha pivotable support arm.

SUMMARY

The object of the invention is to improve the recovery of a submarinevehicle, in particular to configure the recovery process to be safer forthe submarine vehicle.

In various embodiments, the invention achieves this object by a systemfor recovering a submarine vehicle according to Claim 1 and by a methodfor recovering a submarine vehicle according to Claim 8. The system ofthe type mentioned in the introduction has a wave compensation ramppivotably mounted on the recovery ramp about a pivot axis relative tothe recovery ramp and supported by a floating body for receiving thesubmarine vehicle and for retrieving the wave compensation ramp togetherwith the received submarine vehicle by means of the recovery ramp, inparticular on board the marine vessel or on land, in particular on ajetty. The wave compensation ramp has an end which opposes the pivotaxis and/or which is free, the floating body can be arranged on the freeend. In various embodiments, the system also comprises the rope forpulling the submarine vehicle.

Due to the floating body, the wave compensation ramp is adapted to theposition of the waterline and/or water surface and/or to the waves. Inparticular the wave compensation ramp at its free end is adapted to themovement of the submarine vehicle so that the submarine vehicle and thefree end of the recovery ramp are both located approximately in theregion of the waterline. A front and/or rear floating body can beprovided as floating bodies. Alternatively or additionally, furtherfloating bodies can be provided.

The pivot axis can be arranged in the region, in particular up to half ameter, above an average waterline and/or just above the region in whichthe waterline is located in calm seas. The recovery ramp, therefore,only needs to extend down almost as far as the average waterline and notbe immersed further into the water. As a result, the recovery ramp canbe configured to be shorter relative to the known recovery ramp cited inthe introduction. The recovery ramp of the system according to variousembodiments of the invention can be accommodated, therefore, in aspace-saving manner on board the marine vessel or on land, for exampleon a truck or in a container. According to various embodiments of themethod, the submarine vehicle is received by means of the wavecompensation ramp and subsequently the wave compensation ramp togetherwith the received watercraft are retrieved by means of the recoveryramp.

The system according to various embodiments of the invention is alsosuitable and provided for launching the submarine vehicle. According tovarious embodiments of the method, the wave compensation ramp is loweredtogether with the submarine vehicle over the recovery ramp so that thesubmarine vehicle slides over the recovery ramp into the water. To thisend, the wave compensation ramp remains fully mounted on the recoveryramp and/or does not need to be extended or does not need to be fullyextended.

According to various embodiments, the system comprises a guide carriagewhich is displaceable in a linear manner on the recovery ramp, with ajoint for mounting the wave compensation ramp. The joint thus providesthe pivot axis. By displacing the guide carriage, the height at whichthe wave compensation ramp is mounted can be altered. By means of theguide carriage, the wave compensation ramp can be lifted up or loweredonto the recovery ramp. According to various embodiments of the method,the guide carriage is displaced in a linear manner on the recovery ramp,the joint mounting the wave compensation ramp.

In various embodiments, the system comprises a hydraulically driven beltdrive for displacing the guide carriage. The belt drive provides thetensile force for lifting and lowering the wave compensation ramp, inparticular together with the submarine vehicle received by the wavecompensation ramp. According to various embodiments of the method, thebelt drive displaces the guide carriage.

According to various embodiments, the system comprises a front receiverdevice which is displaceable in a linear manner on the wave compensationramp, for guiding the rope and for guiding, and can also be formounting, the submarine vehicle. According to various embodiments of themethod, the front receiver device is displaced in a linear manner on therecovery ramp, the front receiver device guiding the rope and/or thesubmarine vehicle. In particular, the rope is threaded through the frontreceiver device for retrieving the submarine vehicle. Subsequently, thesubmarine vehicle is pulled towards the front receiver device and ontothe wave compensation ramp, in particular by means of a winch, the frontreceiver device being displaced on the wave compensation ramp andguiding the submarine vehicle.

According to various embodiments, the system comprises coupling meansfor coupling to a front attachment fastened to the submarine vehicle.Thus, the submarine vehicle is coupled via the front attachment to thereceiver device, according to various embodiments of the method thecoupling means being coupled to the front attachment.

According to various embodiments, the system comprises the frontfloating body for retaining the front receiver device in the region ofthe waterline of the body of water during the coupling procedure.According to various embodiments of the method, the front floating bodyretains the front receiver device in the region of the waterline of thebody of water. Thus, the vertical relative movements of the couplingmeans are minimized relative to the submarine vehicle. The coupling issimplified.

According to various embodiments, the coupling means comprise a snapconnection device for engaging and retaining the front attachment. Thesnap connection device can be designed with a locking pawl. The snapconnection engages the front attachment and subsequently fixedly retainsthe front attachment and thus the submarine vehicle so that thesubmarine vehicle is able to be guided by means of the front receiverdevice and mounted by the front receiver device. The snap connectiondevice permits automatic engagement, with subsequent secure retention ofthe front attachment and/or the submarine vehicle.

Advantageously, the front receiver device comprises a negative shell forcentering the submarine vehicle. The negative shell centers thesubmarine vehicle, in particular relative to the front receiver deviceand thus, relative to the longitudinal axis of the wave compensationramp. Thus, the negative shell assists the engagement by means of thesnap connection device and also the retention and mounting of the frontattachment and/or the submarine vehicle.

According to various embodiments, the negative shell comprises two, ormore than two, guide strips when moving the negative shell to the freeend of the wave compensation ramp, in particular forming a guide funnel,for guiding the submarine vehicle during the coupling procedure, inparticular for guiding the front attachment to the front receiver deviceand/or for guiding the front attachment to the coupling means and forretaining the submarine vehicle in position. According to a variant, theguide strips are arranged in a plane, for example in the horizontalplane, and thus, spread apart to the side. As a result, atwo-dimensional guide funnel is formed for the submarine vehicle. Theguide strips can be flexible and comprise floating bodies, in particularwhere the guide strips are spread apart to the side in the horizontalplane. As a result, the guide strips are adapted to the surface of thebody of water.

According to various embodiments the guide strips, in particular morethan two guide strips, are arranged in a radial and/or rotationallysymmetrical manner about an axis, along which the front receiver deviceis displaceable on the wave compensation ramp so that the spread-apartguide strips form a three-dimensional guide funnel. In any case, thespread-apart guide strips guide the submarine vehicle through the rearreceiver device and at the same time center the submarine vehicle. Inthis case, the guide strips are passed through the rear receiver device.When the front receiver device is located in the region of the rearreceiver device and/or in the region of the free end of the wavecompensation ramp, the guide strips are spread apart. If, however, thefront receiver device is retracted, the guide strips are held togetherby the rear receiver device in a more compact manner relative thereto.When extending the front receiver device with the negative shell, theguide strips spread apart, for example by means of the force of springs.The guide funnel is opened. However, when retracting the front receiverdevice, in particular together with the submarine vehicle coupledthereto, the guide funnel is closed and retains the submarine vehicle inposition, in particular relative to the front receiver device.

According to various embodiments, the system comprises a rear receiverdevice fastened to the wave compensation ramp, in particular for guidingand mounting the submarine vehicle. In various implementations, the rearreceiver device comprises the rear floating body for retaining the freeend of the wave compensation ramp in the region of the waterline of thebody of water. In particular, the rear floating body of the rearreceiver device and the front floating body of the front receiver devicejointly ensure that the front receiver device and the wave compensationramp together adopt an advantageous position for coupling and forpulling onto the wave compensation ramp.

According to various embodiments, the rear receiver device compriseswheels for guiding and mounting the submarine vehicle. The wheels can bearranged such that they come into contact with robust portions of thesubmarine vehicle and do not come into contact with or damage sensors.In various implementations, the rear receiver device comprises fourwheels or alternatively a different number of wheels which limit thefreedom of movement of the submarine vehicle along the longitudinal axisof the wave compensation ramp.

According to various embodiments, the system comprises a guide pulleymounted on the guide carriage or on the wave compensation ramp in theregion of the pivot axis for deflecting the rope from the wavecompensation ramp to the recovery ramp. In particular, the guide pulleyis arranged above the pivot axis and/or the joint, when the recoveryramp is in a position for retrieving the submarine vehicle and/or whenthe guide carriage is positioned at the free end of the recovery rampand/or in the region of the average waterline. In particular, the guidepulley is arranged such that when the submarine vehicle is guided on thewave compensation ramp the lifting of the wave compensation ramp isassisted by pulling on the rope. Pulling on the rope thus has a liftingeffect on the wave compensation ramp. As a result, a lowering of thewave compensation ramp below the waterline and/or water surface iscounteracted. According to various embodiments of the method, the guidepulley accordingly bears the rope.

According to various embodiments, the system comprises a marine bearingassembly for mounting the recovery ramp on the marine vessel or on land.Moreover, the system can have a tilting roller and a rocker for liftingthe recovery ramp via the rocker onto the marine bearing assembly. Invarious implementations, a plurality of tilting rollers and rockers areprovided. As a result, the recovery ramp can be mounted together withthe wave compensation ramp and the submarine vehicle on board the marinevessel or on land and lowered by tilting the rocker toward the water orcan be lifted on board and/or onto land by means of the rocker via thetilting roller. In various implementations, the marine bearing assemblyhas a hydraulic cylinder for driving the rocker. The hydraulic cylinderdrives the rocker and/or causes the lowering and/or lifting of therecovery ramp by hydraulic means.

According to various embodiments of the invention, the system comprisesan auxiliary rope, by pulling on the auxiliary rope a lowering momentbeing able to be effected on the wave compensation ramp so that the wavecompensation ramp can optionally be lowered counter to the liftingmoment effected by means of the rope.

According to various embodiments, the system on the submarine vehiclecomprises the front attachment fixedly connected to the submarinevehicle. Moreover, the rope can be fixedly connected at its first end tothe front attachment.

According to various embodiments, the system comprises a buoy which canbe connected and/or is connected to the second end of the rope at leastwhen the rope is not fastened at the second end to a winch of the marinevessel.

For reeling in the submarine vehicle, the submarine vehicle can launchthe buoy, which is retrieved by means of a rope or boat hook from themarine vessel and/or from the land. On board the marine vessel and/or onland, the second end of the rope is threaded through the rear receiverdevice and through the front receiver device and placed around the guidepulley and fastened to the cited winch on board the marine vessel and/oron land. The winch, which can form part of the system, winds up the ropeand/or parts of the rope and thus pulls the submarine vehicle towardsthe wave compensation ramp and up onto the wave compensation ramp and/orinto the wave compensation ramp.

According to various embodiments, the front receiver device or the rearreceiver device or the wave compensation ramp has at least one foldingmechanism, but can have two lateral folding mechanisms, and a lowerfolding mechanism for protecting external sensors of the submarinevehicle. Upon contact of the submarine vehicle with the foldingmechanism, the folding mechanism is folded away and/or yields so that ahard impact of the submarine vehicle and/or of sensors of the submarinevehicle against the wave compensation ramp is counteracted.

DRAWINGS

Further embodiments are revealed from the claims and from the exemplaryembodiments described in more detail with reference to the drawings.

FIG. 1 shows a system mounted on a marine vessel for recovering asubmarine vehicle according to various embodiments of the invention witha submarine vehicle coupled thereto in a side view.

FIG. 2 shows a coupling means of the system according to FIG. 1 with afront attachment coupled thereto for fastening to a submarine vehicle ina sectional view, in accordance with various embodiments of theinvention.

FIG. 3 shows the system according to FIG. 1 with a retrieved recoveryramp and wave compensation ramp and with the mounted submarine vehiclein a side view, in accordance with various embodiments of the invention.

FIG. 4 shows the system according to FIG. 1 with the extended recoveryramp, extended wave compensation ramp and the submarine vehicle mountedon the wave compensation ramp in a side view, in accordance with variousembodiments of the invention.

FIG. 5 shows the system according to FIG. 1 with the extended recoveryramp, retrieved wave compensation ramp and the mounted submarine vehiclein a side view, in accordance with various embodiments of the invention.

FIG. 6 shows a block diagram for illustrating a method for recovering asubmarine vehicle according to various embodiments of the invention.

FIG. 7 shows a negative shell according to various embodiments with theguide strips spread apart.

FIG. 8 shows the negative shell according to FIG. 7 with a retainedsubmarine vehicle.

DETAILED DESCRIPTION

The FIG. 1 shows a system 1 configured, in particular, as a recoverydevice for the recovery of a submarine vehicle 2 according to various anexemplary embodiments of the invention. The submarine vehicle 2 can be,for example, an autonomous unmanned submarine vehicle which is providedwith sensors and is used for carrying out tests below the water surfaceand/or waterline 4 of a body of water 6 or for carrying out tests on thebed of the body of water 6.

The system 1 comprises a marine bearing assembly 10 which is arranged onboard the marine vessel 8, in particular at the stern of the marinevessel 8. The marine bearing assembly 10 is, for example, fixedlyscrewed to the deck of the marine vessel 8 by means of screws.Alternatively, the marine bearing assembly 10 is arranged and/ormounted, for example, in a movable manner on the deck of the marinevessel 8. Alternatively, the marine bearing assembly 10 can also be abearing assembly arranged on land, for example on a jetty.

A recovery ramp 12 is mounted on the marine bearing assembly 10, therecovery ramp bearing against a tilting roller 14 fastened to the marinebearing assembly 10. The tilting roller 14 faces the stern of the marinevessel 8 and/or the water. When the marine bearing assembly 10 isalternatively arranged on land, the tilting roller 14 also faces thewater and/or a jetty wall. The recovery ramp 12 is connected by a firstend 16 via a rocker 18 to the marine bearing assembly 10. The rocker 18is pivoted toward the stern of the marine vessel 8 and/or toward thewater such that a second end and/or free end 20 of the recovery ramp 12is arranged in the region of the average waterline 4 of the body ofwater 6. The recovery ramp 12 is thus lowered toward the body of water6. The recovery ramp 12 is lifted by pivoting the rocker 18 via thetilting roller 14 and, depending on the pivoting direction, thus loweredto the waterline 4 and/or the water or retrieved on board the marinevessel 8 and/or onto land. To this end, the rocker 18 is driven by ahydraulic cylinder 22. The rocker 18 is, for example, mounted on theside of the marine bearing assembly 10 facing the water or,alternatively to the arrangement according to FIG. 1, on the side remotefrom the water.

A wave compensation ramp 24 is pivotably mounted on the recovery ramp 12about a pivot axis S relative to the recovery ramp 12. In particular,the wave compensation ramp 24 is indirectly connected to the recoveryramp 12 by a first end 26 via a joint 28 providing the pivot axis S. Thejoint 28 is arranged on a guide carriage 30 which is able to bedisplaced in a linear manner on the recovery ramp 12 by means of a beltdrive 32 indicated in dashed lines. The belt drive 32 can behydraulically driven. By displacing the guide carriage 30, therefore,the wave compensation ramp 24 can be lowered or the recovery ramp 12lifted up and/or retrieved.

A second and/or free end 34 of the wave compensation ramp 24 opposingthe first end 26 of the wave compensation ramp 24 is supported by afront floating body 36 and by a rear floating body 38. A rear receiverdevice 40 fastened to the wave compensation ramp 24 comprises the rearfloating body 38. The rear floating body 38 retains the free end 34 ofthe wave compensation ramp 24, in particular with the aid of the frontfloating body, in the region of the waterline 4 of the body of water 6.The waterline 4 changes in moderate and/or heavy seas, the wavecompensation ramp 24 adapting its position to the current waterline 4 inthe region of the wave compensation ramp 24, in particular in the regionof the rear floating body 38 and/or the front floating body 36.

A front receiver device 42 comprises the front floating body 36 whichretains the front receiver device 42, in particular with the aid of therear floating body 38, in the region of the waterline 4 of the body ofwater 6. The front receiver device 42 has a negative shell 44 inrelation to the bow of the submarine vehicle 2 which defines a positiveshape. The shape of the front receiver device 42 is thus adapted to theshape of the bow of the submarine vehicle 2. Furthermore, the frontreceiver device 42 comprises coupling means 46, by means of which thefront receiver device 42 can be coupled to the submarine vehicle 2. Thecoupling is implemented either directly on the submarine vehicle 2 butcan be indirectly via a front attachment 48 fastened to the submarinevehicle 2. The front attachment 48 and/or the submarine vehicle 2 are inturn directly connected to a rope 50 which is shown in dashed lines inthe region of the wave compensation ramp 24. The rope 50 is guidedthrough the front receiver device 42 and through the rear receiverdevice 40. Moreover, the rope 50 extends along the wave compensationramp 24 towards a guide pulley 52 which is mounted above the pivot axisS on the guide carriage 30 and which deflects the rope 50 from the wavecompensation ramp 24 to the recovery ramp 12. The rope 50 extendsfurther along the recovery ramp 12, optionally via one or more furtherguide pulleys, not shown, as far as a winch 54 which is able to wind oreven unwind the rope 50 by electrical drive means.

In the position of the system 1 and of the submarine vehicle 2, shown inFIG. 1, the submarine vehicle 2 has either been let into the water andcan now be decoupled or, for example after carrying out a mission, thesubmarine vehicle 2 has been coupled to the front receiver device 42 andcan now be recovered and/or pulled on board the marine vessel 8.

Prior to the decoupling, generally a buoy is launched from the submarinevehicle 2, to which the free end of the rope 50 is fastened, which inthe view according to FIG. 1 is fastened to the winch 54. The buoy isreeled in by means of a ships hook, pulled on board the marine vessel 8and detached from the rope 50. On the deck of the marine vessel 8, thefree end of the rope 50 is subsequently threaded through the frontreceiver device 42 and the rear receiver device 40, placed around theguide pulley 52 and finally fastened to the winch 54. The winch 54 nowwinds up the rope 50 and, as a result, pulls the submarine vehicle 2 forcoupling to the front receiver device 42. Optionally, in a developmentof the exemplary embodiment shown, folding mechanisms are arranged onthe front receiver device 42 or on the wave compensation ramp 24, thefolding mechanisms counteracting damage to sensors of the submarinevehicle 2 when approaching the front receiver device 42.

As soon as the underwater vehicle 2 is coupled by means of the couplingmeans 46 to the front receiver device 42, the rope 50 is hauled infurther by means of the winch 54 which causes the front receiver device42 to be displaced along the wave compensation ramp and at the sametime, together with the bow and subsequent parts of the submarinevehicle 2, to be pushed through the rear receiver device 40. In thiscase, the submarine vehicle 2 is guided and mounted both by the frontreceiver device 42 and by the rear receiver device 40. To this end, therear receiver device 40 comprises wheels 56, four wheels 56 which guideand mount the submarine vehicle 2 can be provided. The wheels 56 canhave a flexible roller material for effective damping. Moreover, thewheels 56 can be adjustable in height. By the arrangement of the guidepulley 52 above the pivot axis S and/or by the arrangement which isdisplaced relative to the pivot axis S in the direction of the first end16 of the recovery ramp 12, by the tensile force produced by means ofthe rope 50, a lifting moment is produced for the wave compensation ramp24 and/or for the free end 34 of the wave compensation ramp 24.

Finally, the wave compensation ramp 24 comprises a wheel and/or wheels58 which support the wave compensation ramp 24 and/or the free end 34 ofthe wave compensation ramp 24 on the recovery ramp 12 when the wavecompensation ramp 24 is lifted onto the recovery ramp 12.

FIG. 2 shows a snap connection device 60 in a sectional view togetherwith a part of the front attachment 48 which is engaged in the snapconnection device 60. The coupling means 46 have the snap connectiondevice 60, the snap connection device 60 being configured for engagingand retaining the front attachment 48 and thus for coupling the frontattachment 48 to the front receiver device 42.

The front attachment 48 has a spike and/or pin 62 which is guided bymeans of a guide 64. The coupling means 46 are configured in the regionof the snap connection device 60 in the shape of a guide funnel 66. Thesnap connection device 60 comprises pivotable snap connections 68 and70.

By means of the rope 50, not shown here, the pin 62 is guided throughthe guide funnel 66 and the guide 64 onto the snap connection device 60.The rope 50 can optionally be passed through the pin 62 and through thesnap connection device 60 and/or the top end of the guide 64.Projections 72 and 74 on the pin 62 and/or a peripheral projection whichhas the portions 72 and 74, when guiding and/or threading in the pin 62,effect a pivoting of the snap connections 68 and 70, the snapconnections 68 and 70 snapping back after the projections 72 and 74 havepassed the snap connections 68 and 70. Subsequently, the pin 62 and thusthe front attachment 48 are coupled by means of the snap connectiondevice 60 to the front receiver device 42.

The snap connection device 60 can be configured such that the snapconnections 68 and 70 open again and open up the passage for theprojections 72 and 74 when the pin 62 is pushed in the direction of thefront receiver device 42. This can take place, for example fordecoupling the submarine vehicle 2, by the submarine vehicle 2 beingmoved by means of its drives in the direction of the front receiverdevice 42.

FIG. 3 shows the system 1 according to the embodiments of FIG. 1 withthe recovery ramp 12 retrieved, the wave compensation ramp 24 retrievedand the submarine vehicle 2 retrieved. The same reference numerals inall the figures denote the same components. The recovery ramp 12, thewave compensation ramp 24 and the submarine vehicle 2 are positionedabove the marine bearing assembly 10. The rocker 18 is pivoted such thatthe recovery ramp 12 is mounted in the region of the second and/or freeend 20 of the recovery ramp 12 on the tilting roller 14. Thisarrangement according to FIG. 3 is produced before the submarine vehicle2 is let into the water and/or when the submarine vehicle 2 iscompletely recovered. Moreover, the recovery ramp 12 and the wavecompensation ramp 24 can adopt the same position when the submarinevehicle 2 carries out its mission and when the rope 50 is reeled in, inparticular at least as long as the rope 50 is fastened to the winch 54.

FIG. 4 shows the system 1 according to embodiments of FIG. 1 in anarrangement which substantially equates to the arrangement according toFIG. 1, but with the submarine vehicle 2 being received by the wavecompensation ramp 24. The submarine vehicle 2 in this case is mounted bythe front receiver device 42 and the rear receiver device 40, amongstother things the negative shell 44 centering the bow of the submarinevehicle 2.

In the illustration according to FIG. 4, the front receiver device 42has reached its outermost position in the direction of the first end 26of the wave compensation ramp 24. Subsequently, the wave compensationramp 24 is pulled up onto the recovery ramp 12 by means of the beltdrive 32, optionally assisted by pulling on the rope 50.

The exemplary arrangement according to FIG. 4 is also achieved when thesubmarine vehicle 2 is to be let into the water, namely when the guidecarriage 30 has reached its final position in the region of the secondor free end 20 of the recovery ramp 12 or in the region of the averagewaterline 4.

FIG. 5 shows the system 1 of FIG. 1 in an arrangement in which thesubmarine vehicle 2, as in the arrangement according to FIG. 4, isreceived by the wave compensation ramp 24. In contrast to thearrangement according to FIG. 4, however, the wave compensation ramp 24with the submarine vehicle 2 is also fully received by the recovery ramp12. The guide carriage 30 is positioned at the first end 16 of therecovery ramp 12 and retains the wave compensation ramp 24 at that pointwith the submarine vehicle 2. In this case, the wave compensation ramp24 is additionally mounted on the wheel and/or the wheels 58.

The system 1 is suitable for recovering and launching the submarinevehicle 2. Proceeding from the arrangement according to FIG. 3, thelaunching takes place via the arrangements according to FIGS. 5, 4 and1. The recovery and/or retrieval of the submarine vehicle takes place,proceeding from the arrangement according to FIG. 1, via thearrangements according to FIGS. 4, 5 and 3. Alternatively, however, thesubmarine vehicle can be displaced into the body of water 6 from themarine vessel 8 in a different manner, as the launching of the submarinevehicle 2 generally involves relatively less risk of damage to thesubmarine vehicle 2 compared to the recovery. For example, the submarinevehicle 2 can be let into the body of water 6 by means of a crane.

FIG. 6 shows a block diagram for illustrating a method 76 for recoveringa submarine vehicle and/or the submarine vehicle 2 in accordance withthe various exemplary embodiments of FIG. 1.

The method 76 always comprises the mounting 78 of the recovery ramp 12on the marine bearing assembly 10 and/or by means of the marine bearingassembly 10, in particular on the marine vessel 8. Moreover, the method76 always comprises the mounting 80 of the wave compensation ramp 24 onthe recovery ramp 12 in a pivotable manner about the pivot axis Srelative to the recovery ramp 12. The wave compensation ramp 24 is thusto be regarded as movable during the recovery procedure, whereasalthough the recovery ramp 12 can be lowered or lifted on board, duringthe recovery procedure in the narrower sense and/or when the submarinevehicle is coupled thereto, it is to be regarded as stationary.

After the submarine vehicle 2 has carried out its mission, its energyreserves are generally exhausted so that the submarine vehicle 2 doesnot actively control the recovery procedure, but according to a step 82launches a buoy which is fixedly connected by means of the rope 50 tothe front attachment 48 of the submarine vehicle 2. Subsequently,according to a step 84 the buoy is reeled in by means of a ships hook,for example. The buoy is removed from the free end of the rope 50.Subsequently according to a step 86, the free end of the rope 50 isthreaded through the front receiver device 42 and through the rearreceiver device 40 and according to a step 88 fastened to the winch 54.Subsequently, according to a step 90, the recovery ramp 12 which islocated above the marine bearing assembly 10 is lifted above the tiltingroller 14 and lowered in the direction of the waterline 4. The free end20 of the recovery ramp 12 is now located in the region of the averagewaterline 4. Subsequently, according to a step 92, the wave compensationramp 24 is extended by means of the guide carriage 30. The wavecompensation ramp 24 is now located with its free end 34 in the regionof the actual waterline 4 and rocks up and down with the waves.

Subsequently, according to a step 94 the submarine vehicle 2 is pulledby means of the rope 50. The winch 54 at the same time produces atensile force on the rope 50. Whilst the submarine vehicle 2 accordingto step 94 is pulled, according to a step 96 the rear receiver device 40is retained in the region of the water surface and/or waterline 4, inparticular by means of the rear floating body 38. Moreover, the rope 50according to a step 98 is guided by means of the front receiver device42. Additionally, according to a step 100 the rope 50 is deflected bymeans of the guide pulley 52 from the wave compensation ramp 24 to therecovery ramp 12. The step 100 contains a step 102 according to whichthe lifting of the wave compensation ramp 24 is assisted by means of thetensile force of the rope which is achieved by the arrangement of theguide pulley 52 above the pivot axis S. As a result, a lifting moment isproduced on the wave compensation ramp 24.

The submarine vehicle 2 according to a step 104 is received by means ofthe wave compensation ramp 24. In this case according to a step 106, thefront receiver device 42 is retained, in particular by means of thefront floating body 36, in the region of the water surface and/orwaterline 4. In the meantime, according to a step 108 the coupling means46 are coupled to the front attachment 48. Thus, the submarine vehicle 2is fixedly docked to the front receiver device 42. The coupling in step108 comprises an engagement of the front attachment 108 by means of thesnap connection 60 according to a step 110.

The centering of the submarine vehicle 2 by means of the negative shell44 according to a step 112 and the guidance of the submarine vehicle 2by means of the front receiver device 42 according to a step 114 followhereinafter as further components of the receiving procedure accordingto step 104, the submarine vehicle 2, in particular, also being mountedby means of the front receiver device 42. Moreover, the step 104comprises the guidance and mounting of the submarine vehicle 2 by meansof the rear receiver device 40, in particular by means of the wheels 56of the rear receiver device 40 according to a step 116. Finally, alinear displacement of the front receiver device 42 on the wavecompensation ramp 24 according to a step 118 forms part of a receivingprocedure for the submarine vehicle 2 by means of the wave compensationramp 24 according to the step 104. The displacement takes place by meansof the tensile force exerted by the winch 54 via the rope 50.

If the submarine vehicle 2 is pulled up to the final designated positiononto the wave compensation ramp 24, after the step 94, according to astep 120 the submarine vehicle 2 is retrieved by means of the recoveryramp 12 on board the marine vessel 8 and/or to a position above themarine bearing assembly 10. In particular, according to a step 122 thewave compensation ramp 24 together with the received submarine vehicle 2are retrieved and/or moved on board the marine vessel 8 and/or above themarine bearing assembly 10. To this end, according to a step 124 theguide carriage 30 is displaced, in particular by means of the belt drive32, and thus the wave compensation ramp 24 is lifted according to a step126. Subsequently, the wave compensation ramp 24 bears fully against therecovery ramp 12. Then, according to a step 128, the recovery ramp 12 islifted by means of the rocker 18 via the tilting roller 14, inparticular by means of the hydraulic cylinder 22. Thus, the submarinevehicle 2 is finally located above the wave compensation ramp 24, abovethe recovery ramp 12 and above the marine bearing assembly 10 and/orrecovered on board the marine vessel 8.

The system 1 can also be used for launching the submarine vehicle 2. Themethod steps required therefor are in part similar to the method stepsfor recovering the submarine vehicle 2 in reverse sequence. In thiscase, however, the rope 50 can be not fastened to the winch 54 but islocated on the submarine vehicle 2 together with the buoy fastened tothe rope 50. In particular, the launching of the submarine vehicle 2takes place by the recovery ramp 12 being lowered by means of the rocker18 via the tilting roller 14 together with the wave compensation ramp 24located thereon and the submarine vehicle 2 located thereon.Subsequently, the submarine vehicle 2 slides over the recovery ramp 12into the water.

Alternatively, the guide carriage 30 is moved down the recovery ramp 12and thus the wave compensation ramp is lowered. Finally, by means of thecoupling means 46, the coupling of the submarine vehicle 2 and/or thefront attachment 48 to the front receiver device 42 is released. In thiscase, the front receiver device 42 is either secured by means of aretaining means in the region of the first end 26 of the wavecompensation ramp 24 or has previously moved to the second and/or freeend 34 of the wave compensation ramp.

FIG. 7 shows a negative shell 44′ in a sectional view from above withtwo guide strips 130 and 132 spread apart to the side. Alternatively,the guide strips 130 and 132 can also be spread apart in otherdirections, for example the guide strip 130 upwards and the guide strip132 downwards, according to this alternative example, FIG. 7 being asectional view of a side view. Moreover, as an alternative to theexemplary embodiment shown, further guide strips can be provided, theguide strips being spread apart in several directions and togetherforming a three-dimensional funnel.

For spreading apart the guide strips 130 and 132, the negative shell 44′and/or the front receiver device 42, not shown here, with the negativeshell 44′ are displaced from the first end 26 of the wave compensationramp 24, not shown here, to the second and/or free end 34 of the wavecompensation ramp 24, the guide strips 130 and 132 being spread apartand finally as shown in FIG. 7 being spread apart when the negativeshell 44′ is arranged in the region of the rear receiver device 40connected fixedly to the wave compensation ramp 24. The submarinevehicle 2, the bow thereof being shown in FIG. 7, can move in thedirection of the negative shell 44′ and/or be pulled by means of therope 50, not shown here, the submarine vehicle 2 being guided securelyto the negative shell 44′ by means of the guide strips 130 and 132, evenin the case of potential lateral currents, and being able to be coupledthere. In particular, the guide strips 130 and 132 prevent the submarinevehicle 2 from striking against the rear receiver device 40. The guidestrips 130 and 132 comprise floating bodies and are mounted flexiblyand/or movably such that the guide strips 130 and 132, which are spreadapart to the side, are also arranged locally in the region of the watersurface of the body of water 6. The submarine vehicle 2 and the localportions of the guide strips 130 and 132, towards which the submarinevehicle 2 moves, are thus located approximately at the same height sothat the submarine vehicle 2 is not able to reach a position above orbelow a guide strip, in which it might run the risk of being struckvertically by the respective guide strip 130 and/or 132.

FIG. 8 shows the negative shell 44′ of FIG. 7 with the mounted submarinevehicle 2, in accordance with various embodiments. The submarine vehicle2 is retained by the guide strips 130 and 132 in position. The negativeshell 44′ and/or the front receiver device 42 with the negative shell44′ are located in this case in the region of the first end 26 of thewave compensation ramp 24, not shown here, so that the submarine vehicle2 is mounted on the wave compensation ramp 24.

Proceeding from the view according to FIG. 7, the view according to FIG.8 is achieved by the submarine vehicle 2 being pulled onto the wavecompensation ramp 24 after being coupled to the front receiver device 42and/or to the negative shell 44′, the negative shell 44′ being displacedfrom the free end 34 of the wave compensation ramp 24 in the directionof the first end 26 of the wave compensation ramp 24 and/or the negativeshell 44′ being retracted. In this case, the guide strips 130 and 132slide partially through the rear receiver device 40, so that the guidestrips 130 and 132 are forced together by means of the rear receiverdevice 40 and/or forced in the direction of the submarine vehicle 2.

The invention prevents a hard impact of the submarine vehicle 2 againstthe recovery ramp 12, both when launching and when recovering thesubmarine vehicle 2, even in moderate and/or heavy seas. Submarinevehicles 2 can be launched and recovered by means of the system 1according to the invention and/or by means of the method 76 according tothe invention with reduced risk of damage to the submarine vehicle 2,even in moderate and heavy seas.

All features cited in the above description and in the claims are ableto be used individually and in any combination. The disclosure of theinvention is therefore not limited to the described and/or claimedcombinations of features. On the contrary, all combinations of featuresshould be considered as being disclosed.

1.-14. (canceled)
 15. A system for recovering a submarine vehicle, saidsystem comprising: a recovery ramp for retrieving the submarine vehiclefrom a body of water by means of a rope for pulling the submarinevehicle and by means of the recovery ramp, on board a marine vessel oronto land; and a wave compensation ramp pivotably mounted on therecovery ramp about a pivot axis (S) relative to the recovery ramp andsupported by a floating body for receiving the submarine vehicle and forretrieving the wave compensation ramp together with the receivedsubmarine vehicle by means of the recovery ramp.
 16. The systemaccording to claim 15, further comprising: a guide carriage that isdisplaceable in a linear manner on the recovery ramp; a joint formounting the wave compensation ramp; and a hydraulically driven beltdrive for displacing the guide carriage.
 17. The system according toclaim 16, further comprising a front receiver device that isdisplaceable in a linear manner on the wave compensation ramp forguiding the rope and the submarine vehicle, the front receiver devicecomprising: a coupling means for coupling to a front attachment fastenedto the submarine vehicle; and a front floating body for retaining thefront receiver device in the region of the waterline of the body ofwater during the coupling procedure.
 18. The system according to claim17, wherein the coupling means comprises a snap connection device forengaging and retaining the front attachment and the front receiverdevice comprises a negative shell for centering the submarine vehicle.19. The system according to claim 18, further comprising a rear receiverdevice fastened to the wave compensation ramp, the rear receiver devicecomprising: a rear floating body for retaining the free end of the wavecompensation ramp in the region of the waterline of the body of water;and at least one wheel for guiding and mounting the submarine vehicle.20. The system according to claim 19, further comprising a guide pulleymounted on one of the guide carriage and the the wave compensation rampin the region of the pivot axis (S) for deflecting the rope from thewave compensation ramp to the recovery ramp, such that the lifting ofthe wave compensation ramp when the submarine vehicle is guided on thewave compensation ramp is assisted by pulling on the rope.
 21. Thesystem of claim 20, wherein the guide pulley is mounted above the pivotaxis (s).
 22. The system according claim 20, further comprising: amarine bearing assembly for mounting the recovery ramp; a rocker forlifting the recovery ramp via a tilting roller onto the marine bearingassembly; and a hydraulic cylinder for driving the rocker.
 23. A methodfor recovering a submarine vehicle, the submarine vehicle beingretrieved from a body of water, by means of a rope, by means of whichthe submarine vehicle is pulled, and by means of a recovery ramp, onboard a marine vessel or onto land, said method comprising: receivingthe submarine vehicle by means of wave compensation ramp pivotablymounted on the recovery ramp about a pivot axis (S) relative to therecovery ramp and supported by a floating body; and retrieving the wavecompensation ramp together with the received submarine vehicle by meansof the recovery ramp.
 24. The method according to claim 23, furthercomprising displacing a guide carriage in a linear manner on therecovery ramp via a hydraulically driven belt, wherein a joint of theguide carriage is mounted the wave compensation ramp.
 25. The methodaccording to claim 24, wherein coupling means on a front receiver deviceare coupled to a front attachment fastened to the submarine vehicle, themethod further comprising: retaining the front receiver device in theregion of the waterline of the body of water, via a front floating bodyof the front receiver device, and displacing the front receiver devicein a linear manner on the wave compensation ramp, the front receiverdevice guiding at least one of the rope and the submarine vehicle. 26.The method according to claim 25, further comprising: engaging andretaining the front attachment, via a snap connection device of thecoupling means; and centering the submarine vehicle, via a negativeshell of the front receiver device.
 27. The method according to claim26, further comprising: retaining the free end of the wave compensationramp in the region of the waterline of the body of water, via a rearfloating body of a receiver device fastened to the wave compensationramp; and guiding and mounting the submarine vehicle, via wheels of therear receiver device.
 28. The method according of claim 27, furthercomprising deflecting the rope from the wave compensation ramp to therecovery ramp, via a guide pulley mounted on one of the guide carriageand the the wave compensation ramp in the region of the pivot axis (S),such that when the submarine vehicle is guided on the wave compensationramp the lifting of the wave compensation ramp is assisted by pulling onthe rope.
 29. The method of claim 28, wherein the the guide pulley ismounted above the pivot axis (S).
 30. The method according to claim 28,further comprising: lifting the recovery ramp, via a rocker and tilingroller, onto a marine bearing assembly, wherein a hydraulic cylinderdrives the rocker; and mounting the recovery ramp, via the marinebearing assembly.